text: """
  Random collection of utilities for the robots to use
  """
  
  import numpy as np
  
  
  def get_rotation_from_homogeneous_transform(transform):
      """Extract the rotation section of the homogeneous transformation
  
      :param transform: The 4x4 homogeneous transform to extract the
                        rotation matrix from.
      :type transform: numpy.ndarray
  
      :returns: 3x3 Rotation Matrix
      :rtype: numpy.matrix
      """
      s = transform.shape
      if s[0] != s[1]:
          raise ValueError('Matrix must be a 4x4 homogenous transformation', s)
      n = s[0]
      rotation = transform[0:n - 1, 0:n - 1]
      return rotation
  
  
  def create_homogeneous_transform_from_point(p):
      """Create a homogeneous transform to move to a given point
  
      :param p: The (x, y, z) point we want our homogeneous tranform to move to
      :type p: numpy.ndarray
  
      :returns: 4x4 Homogeneous Transform of a point
      :rtype: numpy.matrix
      """
      I = np.identity(3)
      T = np.vstack((I, np.zeros((3,))))
      p = np.hstack((p, np.ones(1))).reshape((4, 1))
      T = np.hstack((T, p))
      return T
  
  
  def create_point_from_homogeneous_transform(T):
      """Create a point from a homogeneous transform
  
      :param T: The 4x4 homogeneous transform
      :type T: numpy matrix
  
      :returns: The (x, y, z) coordinates of a point from a transform
      :rtype: np.ndarray
      """
      return T[0:3, 3]
  